Mark Khazanov, Ben Humphreys, William Keat, John Rieffel

Abstract

The emerging field of morphological computation seeks to
understand how mechanical complexity in living systems can
be advantageous, for instance by reducing the cost of control.
In this paper we explore the phenomenon of morphological
computation in tensegrities—unique structures with
a high strength to weight ratio, resilience, and an ability to
change shape. These features have great value as a robotics
platform, but also make tensegrities difficult to control via
conventional techniques. We describe a novel approach to
the control of tensegrity robots which, rather than suppressing
complex dynamics, exploits them in order to achieve locomotion.
Our robots are physically embodied (rather than
simulated), evolvable, and locomote at higher speeds (relative
to body size) and with fewer actuators than those controlled
by more conventional approaches.